CN106655964B - The full velocity shooting control mode of switched reluctance machines smoothly switches speed regulating method - Google Patents
The full velocity shooting control mode of switched reluctance machines smoothly switches speed regulating method Download PDFInfo
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- CN106655964B CN106655964B CN201610818005.4A CN201610818005A CN106655964B CN 106655964 B CN106655964 B CN 106655964B CN 201610818005 A CN201610818005 A CN 201610818005A CN 106655964 B CN106655964 B CN 106655964B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/08—Reluctance motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
Abstract
The full velocity shooting control mode of switched reluctance machines of the invention smoothly switches speed regulating method, it is characterised in that: when motor low speed is run, can realize current chopping given value, turn-on angle, the common adjusting for turning off angle, coordinated control according to revolving speed and payload size；As revolving speed rises, current chopping given value is stepped up, the effect of current chopping is made gradually to become secondary role from the main function under low speed, so that fully phase out copped wave, when high-speed cruising, is adjusted the speed by adjusting turn-on angle and shutdown angle.The invention has the advantages that the coordinated control to phase current turn-on angle, shutdown angle, phase current copped wave given value can be realized；It realizes that control mode smoothly switches when motor is run from low speed to high speed or from high speed to low speed, and realizes motor high speed and low speed, the electronic unification in control algolithm under on-position.
Description
Technical field
The invention belongs to switched reluctance machines method for controlling speed regulation fields, are related to a kind of full velocity shooting control of switched reluctance machines
Mode processed smoothly switches speed regulating method.
Background technique
Switched reluctance motor (switched reluctance motor, SRM) has developed since being the 1980s
A kind of novel electromechanical integration speed-regulating system come.SRM speed-regulating system has the advantages that
(1) SRM structure is simple, at low cost, rotor is firm, and heat resistance is good, is suitable for high-speed cruising.Switched reluctance machines
Structure will be simple than other motor, protrude advantage be there is no winding on rotor, can be used for ultrahigh speed operating (such as
10000r/min or more).In terms of stator, it only has several concentratred windings, is simple to manufacture, and insulation is easy, and is easy to cooling.
(2) motor respectively mutually works independently, and system reliability is high.Each phase winding of motor and magnetic circuit are mutually indepedent, and each comfortable one
Electromagnetic torque is generated in dead axle angular region, and circle must be generated under each phase winding and magnetic circuit collective effect rather than general motor
Shape rotating excitation field.From controller architecture, each each self-supporting phase winding power supply of circuitry phase is worked independently from each other, can also be lacked
It mutually runs and there is regeneration braking effect.Therefore switched reluctance motor speed control system reliability is very high, can be adapted for
The severe special occasions of running environment.
(3) power circuit is simple and reliable.Switched reluctance machines torque directions is only related with each phase power-up sequence, and and winding
Sense of current is unrelated.As long as the conducting for controlling main switching device turns off angle, the working condition of motor can be changed, i.e., only
Transient current of each phase in different induction region is controlled, circuit is not in straight-through failure, high reliablity.
(4) starting torque is high, and starting current is small.Being very suitable for those needs heavy-load start and long period low speed to run
Machinery, such as electric vehicle.
(5) controllable parameter is more, good speed adjustment features.The control parameter of switched reluctance machines has: turn-on angle, shutdown angle, electric current
Copped wave given value etc..The case where control is flexible and convenient, can be according to service requirement and motor to motor, using different controls
Method processed and parameter value can both be allowed to run on optimum state (such as maximum output, efficiency is most high), can also realize each
Torque-speed characteristic curve of the different requirements of kind.
(6) it is suitable for Fraquent start, parking and positive and negative rotation operation.Switched Reluctance Motor has raised turn
The characteristics of square, low starting current, rush of current is small in starting process, and it is small that the motor feels hot, is easy to acceleration and deceleration.Controllable parameter makes more
Can have same excellent torque output capability with electric operation in running under braking.Suitable for Fraquent start, parking and just
Reversion operation, number is up to 1000 times/hour.
(7) high-efficient, it is lost small.It can without copper loss without winding on its motor rotor of switched Reluctance Motor Control System
It is more to control parameter, flexibly and easily, is easy to realize effectively optimizing control under wide speed range and different loads.Its system effectiveness is very
All 87% or more in wide scope, this is that some other speed-regulating system is not readily reachable by.
The advantage of various protrusions makes switched Reluctance Motor Control System have become AC machine drive system, direct current generator
The contenders of drive system and Brushless DC drive system.Using in electric vehicle above has very big development potentiality.
In addition to this, control mode SRM required in high speed and the operation of middle low speed is inconsistent, and there are different control modes
Switching be also itself a big problem.If different control modes cannot complete smooth switching under high, low speed, will increase
The non-linear factor of SRM brings torque and speed ripple, increases control difficulty, reduces runnability.
At runtime, phase current is simultaneously discontinuous, but the pulse of discontinuous by SRM.Under low speed, to reduce torque pulsation, answer
Keep phase current width big as far as possible, limitation adjusting is carried out to its amplitude, here it is the controlling parties for the phase current copped wave taken under low speed
Formula.However, under SRM high-speed cruising, due to being limited by power circuit switching device switching frequency, the control of phase current copped wave
Mode is no longer applicable in, because carrying out copped wave to phase current if taking, can undoubtedly further increase power circuit switching device
Switching frequency, this be switching device institute it is unaffordable.Therefore, it when SRM high-speed cruising, is only capable of open-minded using phase current is adjusted
The mode at angle and shutdown angle adjusts electric current and electromagnetic torque achievees the purpose that speed regulation.In this way, SRM is controlled with lower at a high speed under the low speed
Mode in the operation of its full velocity shooting, there is the switching problem of two kinds of control modes there are very big difference.
To in the processing of SRM low speed and the lower different control modes switching of high speed, traditional method is setting speed critical value,
When revolving speed is less than the critical value using the control mode of low speed current chopping, when revolving speed is higher than the critical value, using adjusting
The control mode of phase current turn-on angle and shutdown angle.This kind of processing mode there will naturally be many deficiencies: be according to critical turn first
The switching that speed carries out control mode is obviously not belonging to smoothly switch, and certainly will bring the problem in control；Followed by critical speed is only
Only a revolving speed point, if revolving speed changes repeatedly up and down here, necessarily cause control mode toggle repeatedly bring turn
Square, revolving speed jitter problem；Be finally with one revolving speed point of critical speed to high, low speed distinguish obviously it is not ideal enough.Using
Critical speed as carry out control mode switching foundation there are many problems, and Many researchers to be promoted to attempt new method, wherein
Including the stagnant ring threshold method of revolving speed.The stagnant around-France essence of revolving speed is two different revolving speed critical values of setting, and a correspondence accelerated
Journey, a corresponding moderating process.Motor is and electric from low speed to the switching for carrying out control mode when running at high speed according to critical value 1
When machine is from high speed to low-speed running, the switching of control mode is carried out according to critical value 2.Critical value 1 is greater than critical value 2.This side
The problem of formula obviously can shake near critical value to avoid single critical value method bring, however do not solve still but
Problem is smoothly switched between different control modes.Therefore, a kind of pair of phase current turn-on angle, shutdown angle, low speed phase current are studied
It is necessary that the control method that high low speed control mode smoothly switches may be implemented in copped wave value coordinated control.
Summary of the invention
In order to compensate for the shortcomings of the prior art, the present invention provides a kind of high, low speeds to control the switching magnetic-resistance smoothly switched
The full velocity shooting control mode of motor smoothly switches speed regulating method.
The present invention is achieved through the following technical solutions:
The full velocity shooting control mode of switched reluctance machines of the invention smoothly switches speed regulating method, it is characterised in that: motor
When low speed is run, current chopping given value, turn-on angle, the common adjusting for turning off angle, association can be realized according to revolving speed and payload size
Regulation system；As revolving speed rises, current chopping given value is stepped up, makes the effect of current chopping gradually by main under low speed
Effect becomes secondary role, so that fully phase out copped wave, when high-speed cruising, is adjusted the speed by adjusting turn-on angle and shutdown angle.
Turn-on angle (θon) and shutdown angle (θoff) functional relation are as follows:
M, the value of n, t is not unique, when turn-on angle is smaller, close to zero when, curve, which has, centainly to be upwarped, this just meets suitably
Increase shutdown angle, increases the time that phase current maintains, to increase the needs of electromagnetic torque；When motor needs to brake, turn-on angle
Be increased above 0.35 and it is bigger when, shutdown angle rise rapidly, guarantee that phase current appears in the descending branch of phase inductance, generate negative
Electromagnetic torque.
Using equal 12 pole of stator of stator and rotor tooth pitch and slot square, when 8 pole switching reluctance motor of rotor, m=is chosen
3.86, n=-0.516, t=0.262.
Turn-on angle (θon) generating process in, using the deviation of revolving speed as No. 1 input, θonFor turn-on angle, and θon1For not
Clipping is added to export, it is given for adjusting current choppingK1、K2、K3For proportion adjustable parameter, 1/s is integral, and Add is addition,
Add1 is subtraction, and saturation is clipping, i.e. bound, θonIt is exported for No. 1, θon1It is exported for No. 2.
Turn-on angle (θon) generating process in, be used for 12 pole of stator, when 8 pole switching reluctance motor of rotor, K1 takes 10, K2 to take
0.02, K3 takes 0.0005, θonmaxIt takesClipping lower limit takes 0, and the upper limit takes。
In the generating process of phase current copped wave predetermined value, IZBmaxFor phase current copped wave amplitude limit value, K4、K5、K6For proportion adjustable
Parameter, θon1It being inputted as No. 1,1/s is integral, and Add is addition, and Add1 is subtraction, and saturation is clipping, i.e. bound,
Abs is absolute value, IZB1It is exported for No. 1.
In the generating process of phase current copped wave predetermined value, it to be used for 12 pole of stator, 8 pole of rotor (12/8 pole) switched reluctance machines
When, K4 takes 10, K5 that 0.1, K6 is taken to take 10, and clipping lower limit value takes -30A, and upper limit value takes 30A, IZB maxTake 30A.
To realize to be run down whether smoothly switching, it is specified that a current chopping gives using current chopping by high, low speed
Minimum IZB min, finally obtained current chopping given valueAlgorithm is as follows:
And IZB minIt is related with revolving speed n, construct following functional relation:
IZB min=c (n/1000)d (3)
N is motor speed in formula (3), and c, d are parameter, and the selection of c value is related with load-rate of motor, and occurrence is determined by experiment；
Low speed segment, formula (3) calculate IZB minLess than IZB1When, current chopping and θonAnd θoffAdjusting simultaneously work come, cooperation
Speed regulation；It increases revolving speed and reaches high regime, the I that formula (3) calculatesZB minGreater than phase current peak value, phase current copped wave stops, only by adjusting
Save θonAnd θoffRevolving speed is adjusted；Moderating process from high regime toward low speed segment is opposite with this.
Using equal 12 pole of stator of stator and rotor tooth pitch and slot square, when 8 pole switching reluctance motor of rotor, choose with c=
3.8, d=2.2.
The invention has the advantages that the coordination to phase current turn-on angle, shutdown angle, phase current copped wave given value can be realized
Control；It realizes that control mode smoothly switches when motor is run from low speed to high speed or from high speed to low speed, and realizes motor
High speed and low speed, the electronic unification in control algolithm under on-position.It, can be big according to revolving speed and load when motor low speed is run
It is small to realize current chopping given value, turn-on angle, the common adjusting for turning off angle, coordinated control；As revolving speed rises, electricity is stepped up
Copped wave given value is flowed, so that fully phase out copped wave, when high-speed cruising, is adjusted the speed by adjusting turn-on angle and shutdown angle；It can be real
Motor powered state when now accelerating, motor braking state smoothly switches when slowing down, and guarantee motor with maximum electromagnetic torque
Acceleration, deceleration.
Detailed description of the invention
Attached drawing is schematic diagram of the invention.
Fig. 1 is the cross-sectional view of 8/6 pole switching reluctance motor of three-phase, and the circuit connection for giving a phase winding is closed
System.
Fig. 2 is switched reluctance motor controller main circuit diagram, and A, B, C are three-phase windings.
Fig. 3 is switched reluctance machines phase winding inductance with rotor displacement angle variation diagram.
Fig. 4 is the functional relation of the turn-on angle proposed by the invention using function-fitting method building and shutdown angle.
Fig. 5 exemplary currents and phase inductance corresponding diagram.
Fig. 6 is the I proposed by the invention constructed using function-fitting methodZB minWith the relational graph of revolving speed n.
Fig. 7 is each amount when controlling shock load under the low speed that motor obtains with method proposed by the invention.
Fig. 8 is each amount when controlling shock load under the high speed that motor obtains with method proposed by the invention.
Each amount when Fig. 9 is the rotational speed setup impact obtained with method control motor proposed by the invention.
Each amount when Figure 10 is the rotational speed setup anticlimax obtained with method control motor proposed by the invention.
Figure 11 is turn-on angle (θon) generating process.
Figure 12 is the generating process of phase current copped wave predetermined value.
Specific embodiment
Attached drawing is a kind of specific embodiment of the invention.
The method for being applied to the full velocity shooting control mode of switched reluctance machines and smoothly switching speed regulation of the invention, motor low speed
When operation, current chopping given value, turn-on angle, the common adjusting for turning off angle can be realized according to revolving speed and payload size, coordinate control
System；As revolving speed rises, current chopping given value is stepped up, so that fully phase out copped wave, when high-speed cruising, is opened by adjusting
Current flow angle is adjusted the speed with shutdown angle.
Fig. 1 is the cross-sectional view of 8/6 pole switching reluctance motor of three-phase, only draws a phase winding in figure and its powers back
Road.In addition two-phase has same loop structure.It can be seen that the current loop of three-phase windings is independent of each other.Every phase winding
Electric current can only one way flow.V1、V2For device for power switching.D1、D2For freewheeling diode.
Fig. 2 is switched reluctance motor controller main circuit diagram, and A, B, C are three-phase windings.
Fig. 3 is switched reluctance machines phase winding inductance with rotor displacement angle variation diagram.When the salient pole of rotor is completely opposite
When, winding inductance reaches maximum value, and when stator salient poles and rotor slot are completely opposite, winding inductance is minimum value.Winding inductance
For the function of rotor displacement angle.Herein, for 12/8 pole motor, θ3Representative value isθ2Representative value is
According to switched reluctance machines Formula of Electromagnetic, electromagnetic torque that kth mutually generates are as follows:
Wherein TekThe electromagnetic torque that kth mutually generates, ikFor kth phase phase current, LkFor the phase inductance of kth phase, θ is the phase
Rotor displacement angle, npFor number of pole-pairs.As it can be seen that generating positive electromagnetic torque, motor electricity when phase current is in the phase inductance ascent stage
It is dynamic；When phase current is in phase inductance descending branch, negative electromagnetic torque, motor braking are generated；When electric current does not have in phase inductance
When the region of variation (flat-top, flat place), the electromagnetic torque of output is zero.The phase relation of phase current and phase inductance is controlled,
Also the positive and negative of electromagnetic torque is just controlled.
In motor control, by the turn-on angle (θ for controlling phase currenton) and shutdown angle (θoff) size, be not only adjustable phase
The size of electric current, moreover it is possible to the phase relation of phase current and phase inductance is adjusted, to control the positive and negative of electromagnetic torque.As shown in figure 3,
When motor powered, in order to allow phase current rapid increase, turn-on angle (θon) generally 0 is selected in θ2Between, because electric current is in phase inductance
Perseverance is this section of minimum value, and electric current rises quick.Not generate negative electromagnetic torque when guaranteeing motor powered, it is necessary to ensure that
The descending branch of phase inductance turns off switching device before arriving, and electric current is allowed to be down to zero.Turn off angle (θoff) generally it is selected in θ2To θ3Between.
And in motor braking, to ensure to generate negative electromagnetic torque, it is necessary to assure phase current is allowed to appear in the descending branch (θ of phase inductance4
To θ5Section), and phase current will can drop to zero before the next period phase inductance ascent stage occurs, and avoid generating positive electromagnetism turn
Square.It can be seen that when motor braking, no matter turn-on angle (θon) also it is off angle (θoff) value will than it is electronic when it is much bigger, and
The variation of the two has the tendency that synchronous." building turn-on angle (the θ being discussed belowon) and shutdown angle (θoff) functional relation " be exactly
By according to motor used in electronic and braking turn-on angle (θon) and shutdown angle (θoff) value range determine both variation
Then relationship determines a θ by Function FittingonWith θoffRelation curve.The function argument is turn-on angle, and dependent variable is
Turn off angle.In motor control turn-on angle (θ can be determined automatically according to current operating statuson) value, then according to should
Functional relation determines shutdown angle (θoff) value.
1. turn-on angle (the θ of buildingon) and shutdown angle (θoff) functional relation (being fitted to obtain according to trace-point method)
With m=3.86, for n=-0.516, t=0.262, function both at this time is as shown in Figure 4.
M, the value of n, t is not unique, and one provided group data are preferable one groups of effect in emulation experiment.The functional relation
With certain general applicability, stator 12 pole equal suitable for stator and rotor tooth pitch and slot square, 8 pole of rotor (12/8 pole) is opened
Close reluctance motor.It can be seen that when turn-on angle is smaller, close to zero when, curve, which has, centainly to be upwarped, this just meet it is appropriate increase shutdown angle,
Increase the time that phase current maintains, to increase the needs of electromagnetic torque.When motor needs to brake, turn-on angle increases to larger
When (being greater than 0.35), shutdown angle is risen rapidly, and is guaranteed that electric current appears in the descending branch for thinking inductance, is generated negative electromagnetic torque.
2. turn-on angle (θon) generation
It is inputted using the output u (i.e. the deviation of revolving speed) of revolving speed ring change as No. 1, obtains turn-on angle.Wherein θonFor turn-on angle,
And θon1It is given for adjusting current chopping for clipping output is not addedK1、K2、K3For proportion adjustable parameter, 1/s is integral,
Add is addition, and Add1 is subtraction, and saturati on is clipping, i.e. bound, θonIt is exported for No. 1, θon1It is exported for No. 2.
For 12 pole of stator, when 8 pole of rotor (12/8 pole) switched reluctance machines, provide one group of typical value: K1 takes 10, K2
0.02, K3 is taken to take 0.0005, θonmaxIt takesClipping lower limit takes 0, and the upper limit takes
Figure 11 is the generating process figure of phase current turn-on angle.No. 1 input and K1Multiplication institute value, No. 1 input and K2It is multiplied
Then take integral institute's value, this two numerical value be added after with K3Be multiplied, then take negative, then with θon maxBe added, obtain
Numerical value in clipping is No. 1 output θon, the numerical value of obtained not clipping is No. 2 output θon1。
Wherein θonTurn-on angle for the output for adding amplitude limit value, as phase current.θonClipping lower limit takes 0, and the upper limit can use θ3Extremely
θ4Between, θon maxTake θ3To θ4Between (see switched reluctance machines phase winding inductance with rotor displacement angle variation diagram 3).When motor turns
Speed gives larger, and when motor actual speed is smaller, motor needs Accelerating running, and u is larger positive value at this time, adjusts by PI defeated
The value for entering the pi regulator into Add1 is larger.θon maxSubtract the θ obtained after this biggish valueonNaturally smaller, so that mutually electricity
Stream is relatively early to be risen, it is ensured that in the phase inductance ascent stage, phase current is larger.Exemplary currents and phase inductance correspondence image such as Fig. 5.
When motor actual running speed is larger and rotational speed setup becomes smaller suddenly, motor needs to brake to slow down.It is defeated at this time
The u entered can be negative value, and the value inputted in Add1 after PI is adjusted can very little, even negative value.θon maxIt subtracts at this time one small
Positive value or negative value after become very big, even up to positive clipping value.According to turn-on angle (θ mentioned aboveon) and shutdown angle (θoff)
Functional relation, the θ finally calculatedoffAlso it can become larger, guarantee that phase current appears in the descending branch of phase inductance in this way, occur
Negative electromagnetic torque, motor braking slow down.
3. the predetermined generation of phase current copped wave
Figure 12 is the generating process figure of phase current copped wave predetermined value.IZB maxFor phase current copped wave amplitude limit value.K4、K5、K6For
Proportion adjustable parameter.θon1It being inputted as No. 1,1/s is integral, and Add is addition, and Add1 is subtraction, and saturation is clipping,
That is bound, Abs are absolute value, IZB1It is exported for No. 1.
For 12 pole of stator, when 8 pole of rotor (12/8 pole) switched reluctance machines, provide one group of typical value: K4 takes 10, K5
Take 0.1, K6 that 10. clipping lower limit values is taken to take -30A, upper limit value takes 30A.IZB maxTake 30A.
No. 1 input and K4Multiplication institute value, No. 1 input and K5It is multiplied and then takes integral institute's value, this two numerical value is added
Afterwards with K6Be multiplied, then take negative, then with IZB maxIt is added, the obtained numerical value in clipping takes absolute value to be exported for No. 1
IZB1。
Wherein θon1For what is generated in phase current turn-on angle generation figure, which is not added clipping, it is therefore an objective to which its value can be born can
Just.When motor needs electronic acceleration, which can be smaller, or even is negative；When motor needs braking deceleration, which can compare
Greatly.In upper figure, θon1Enter Add1 after Pi adjuster.IZB maxIt is the predetermined value of current chopping clipping of setting, takes
Value is general consistent with the maximum limit amplitude in subsequent clipping.Upper figure output is the predetermined value I of phase current copped waveZB1, that is,
Final phase current copped wave value is not necessarily this value, this minimum I given with the current chopping being described belowZB minIt is related.When
When motor needs to accelerate, IZB1Meeting value is bigger, even up to clipping, and when motor needs retarding braking, chopper current is given
Value also needs larger, θ at this timeon1It can be bigger negative value, after PI adjusts input Add1, the value of generation can be absolute
It is worth bigger negative value.Because chopper current is given to be negative, to take absolute value.
4. the generation of phase current copped wave given value
To realize to be run down whether smoothly switching, it is specified that a current chopping gives using current chopping by high, low speed
Minimum IZB min.Finally obtained current chopping given valueAlgorithm is as follows:
And IZB minIt is related with revolving speed n, construct following functional relation: (being fitted to obtain according to trace-point method)
IZB min=c (n/1000)d (3)
N is motor speed in formula (3), and c, d are parameter, and occurrence can be determined by experiment.With c=3.8, for d=2.2
(definition of the different high low speed segments of motor and control system is different, and parameter selection can be different, according to Rated motor revolving speed and
The switching frequency of device for power switching used determines), available IZB minIt is as shown in Figure 6 with the relational graph of revolving speed n.
Low speed segment, formula (3) calculate IZB minLess than IZB1When, current chopping and θonAnd θoffAdjusting simultaneously work come, association
Speed regulation is closed in allotment.It increases revolving speed and reaches high regime, the I that formula (3) calculatesZB minGreater than phase current peak value, phase current copped wave stops,
Only by adjusting θonAnd θoffRevolving speed is adjusted.Moderating process from high regime toward low speed segment is opposite with this.Whole process is
The transformation to a kind of control mode is adjusted from two kinds of control mode collaboration mixing, transition is naturally, this convert to control mode
It is all smooth from the point of view of switching and rotational speed regulation.
The conversion of operating status in motor acceleration and deceleration is also smoothly low.Electronic, braking conversion is mainly by θonWith
θoffAdjusting complete.This adjustment effect all exists under high speed and low speed, and current chopping only exists under the low speed, is
Guarantee the rapidity of acceleration and deceleration, current chopping is carried out with the amplitude limit value of current chopping given value.Without current chopping under high speed,
But it remains to complete electronic and braking smoothly switch by adjusting pilot angle.If plus involved in subtracting high speed and low speed conversion,
The conversion of completion that naturally also can be smooth from current chopping and not copped wave.
It should be noted that final current chopping given value is related with load, factor needs to set a load factor.
When loading larger, coefficient setting is larger, and when loading smaller, coefficient setting is smaller.Because the size of chopper current and
It is relevant when load.And curve and payload size are unrelated in Fig. 6, because it is no depending on device for power switching whether to carry out copped wave
It can bear the switching frequency.
Fig. 7-10 be the various operating statuses of motor under in respectively measure situation of change.The therefrom validity of visible this method.
Each amount under Fig. 7 low speed when shock load.Increase load under low speed suddenly, can be seen that from adjusting, shock load
Afterwards, the angle of flow becomes smaller, and current chopping given value increases, and electromagnetic torque increases, and illustrates that adjusting copped wave gives and adjust the angle of flow two
Kind factor all works.
Each amount under Fig. 8 high speed when shock load.High speed is lower to increase load suddenly.It can be seen that current chopping given value is very
Height, at this time without current chopping.And the angle of flow substantially reduces, electromagnetic torque increases.Illustrate at this time adjust the angle of flow this
A factor is in action.
Each amount when Fig. 9 rotational speed setup impact.Rotational speed setup increases suddenly.Because revolving speed is lower at this time, current chopping can
To carry out, current chopping, which gives, to be promoted, and maximum limit amplitude is reached, and guarantees that maximum electromagnetic torque is obtained with maximum current to be added to realize
Speed.Angle is simultaneously turned on also to adjust.Accelerate to break, the angle of flow is decreased to 0, and purpose is also to increase electric current, accelerates accelerator.Accelerate
After the completion, the angle of flow increases, but smaller than before this.The given decline of current chopping (being no longer in maximum limit amplitude), but than this
Before to increase.Here it can obviously see that adjusting copped wave gives and adjust two kinds of factors of the angle of flow all in action.
Each amount when Figure 10 rotational speed setup anticlimax.Rotational speed setup reduces suddenly.Motor needs braking deceleration at this time.The angle of flow
Maximum limit amplitude is increased to, turning off angle at this time can become very big, and electric current appears in phase inductance descending branch, generates negative electromagnetic torque
Realize retarding braking.With deceleration, current chopping given value glides.
Claims (8)
1. a kind of full velocity shooting control mode of switched reluctance machines smoothly switches speed regulating method, it is characterised in that: motor low speed fortune
When row, current chopping given value, turn-on angle, the common adjusting for turning off angle, coordinated control can be realized according to revolving speed and payload size；
As revolving speed rises, current chopping given value is stepped up, current chopping effect is made gradually to be reduced to back burner by main status,
So that finally fully phase out copped wave, when high-speed cruising, adjusted the speed by adjusting turn-on angle and shutdown angle；
For realize by high, low speed run down whether smoothly switching, it is specified that current chopping is given most using current chopping
Low value IZBmin, finally obtained current chopping given valueAlgorithm is as follows:
And IZBminIt is related with revolving speed n, construct following functional relation:
IZBmin=c (n/1000)d (3)
N is motor speed in formula (3), and c, d are parameter, and occurrence is determined by experiment；Low speed segment, formula (3) calculate IZBminLess than IZB1
When, current chopping and θonAnd θoffAdjusting simultaneously work come, cooperation speed regulation；It increases revolving speed and reaches high regime, formula (3)
The I of calculatingZBminGreater than phase current peak value, phase current copped wave stops, only by adjusting θonAnd θoffRevolving speed is adjusted；From high speed
The moderating process of section toward low speed segment is opposite with this.
2. the full velocity shooting control mode of switched reluctance machines according to claim 1 smoothly switches speed regulating method, feature
It is:
Construct turn-on angle (θon) and shutdown angle (θoff) functional relation are as follows:
M, n, t are parameter, and occurrence is determined by experiment；M, the value of n, t is not unique, when turn-on angle is smaller, close to zero when, curve
Have and centainly upwarp, this just meets appropriate increase and turns off angle, increases the time that phase current maintains, to increase the need of electromagnetic torque
It wants；When motor needs to brake, when turn-on angle is increased above 0.35, shutdown angle is risen rapidly, and guarantees that electric current appears in inductance
Descending branch, generate negative electromagnetic torque.
3. the full velocity shooting control mode of switched reluctance machines according to claim 2 smoothly switches speed regulating method, feature
It is: using equal 12 pole of stator of stator and rotor tooth pitch and slot square, when 8 pole switching reluctance motor of rotor, chooses m=3.86, n
=-0.516, t=0.262.
4. the full velocity shooting control mode of switched reluctance machines according to claim 1 smoothly switches speed regulating method, feature
It is: turn-on angle (θon) generating process are as follows: No. 1 input u is multiplied by K2After integrated, institute's value and No. 1 input u are multiplied by K1
Product be added, this time institute's value multiplied by K3It is used as subtrahend, θ afterwardsonmaxAs minuend, their difference is No. 2 outputs
Value θon1, their difference obtains No. 1 output valve θ after adding clippingon；
Wherein, it is inputted using the deviation u of revolving speed as No. 1, K1、K2、K3For proportion adjustable parameter, according to motor stator, rotor number
Empirical value is taken, Gain is mathematically gain, proportionality coefficient, multiplies, and 1/s is integral, and Add is addition, and Add1 is subtraction；θonmaxFor
Constant, that is, constant is turn-on angle maximum value；Saturation is clipping, i.e. bound, θonFor the turn-on angle for adding clipping,
θonIt is exported for No. 1, and θon1For the output of clipping turn-on angle, θ is not addedon1It is exported for No. 2, it is given for adjusting current chopping
5. the full velocity shooting control mode of switched reluctance machines according to claim 4 smoothly switches speed regulating method, feature
It is:
Turn-on angle (θon) generating process in, be used for 12 pole of stator, when 8 pole switching reluctance motor of rotor, K1 takes 10, K2 to take
0.02, K3 takes 0.0005, θonmaxIt takesClipping lower limit takes 0, and the upper limit takes
6. the full velocity shooting control mode of switched reluctance machines according to claim 1 smoothly switches speed regulating method, feature
Be: the generating process of phase current copped wave predetermined value is；No. 1 input θon1Multiplied by K5After integrated, institute's value and No. 1 it is defeated
Enter θon1Multiplied by K4Product be added, this time institute's value multiplied by K6It is used as subtrahend, I afterwardsZBmaxAs minuend, their difference
It takes absolute value to obtain No. 1 output valve I after value plus clippingZB1；
Wherein, θon1It is inputted as No. 1, K4、K5、K6For proportion adjustable parameter, learns from else's experience according to motor stator, rotor number and tests value,
Gain is mathematically gain, proportionality coefficient, multiplies, and 1/s is integral, and Add is addition, and Add1 is subtraction, IZBmaxFor Constant
That is constant is phase current copped wave amplitude limit value, i.e., maximum value, saturation are clipping, i.e. bound, and Abs is absolute value, IZB1
It is exported for No. 1, is phase current copped wave value.
7. the full velocity shooting control mode of switched reluctance machines according to claim 1 smoothly switches speed regulating method, feature
It is: in the generating process of phase current copped wave predetermined value, is used for 12 pole of stator, when 8 pole of rotor (12/8 pole) switched reluctance machines,
K4 takes 10, K5 that 0.1, K6 is taken to take 10, and clipping lower limit value takes -30A, and upper limit value takes 30A, IZBmaxTake 30A.
8. the full velocity shooting control mode of switched reluctance machines according to claim 1 smoothly switches speed regulating method, feature
It is: using equal 12 pole of stator of stator and rotor tooth pitch and slot square, when 8 pole switching reluctance motor of rotor, chooses with c=3.8, d
=2.2.
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| CN107493055A (en) * | 2017-09-27 | 2017-12-19 | 华中科技大学 | A kind of switch reluctance machine drive method and device |
| CN107947675B (en) * | 2017-12-28 | 2023-01-31 | 中国科学院宁波材料技术与工程研究所 | Device for smoothly switching switched reluctance control modes |
| CN109995296B (en) * | 2019-01-14 | 2020-12-08 | 南京航空航天大学 | Method for optimally controlling torque and suspension force of bearingless switched reluctance motor |
| CN113437902B (en) * | 2021-06-10 | 2022-06-28 | 湖南科技大学 | Active heave compensation regenerative braking optimization control method for marine winch driven by switched reluctance motor |
| CN115065297B (en) * | 2022-05-22 | 2024-03-05 | 西北工业大学 | Angle optimization control-based switched reluctance motor mode stable switching method |
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| US20030193309A1 (en) * | 2002-03-29 | 2003-10-16 | Yilmaz Sozer | Control method for switched reluctance motor |
| CN104333275A (en) * | 2014-10-30 | 2015-02-04 | 中国矿业大学 | Wide-speed adjustable range cross control method of switched reluctance motor |
| CN204481722U (en) * | 2015-03-26 | 2015-07-15 | 滨州学院 | A kind of switched reluctance machines speed-regulating control device |
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| US20030193309A1 (en) * | 2002-03-29 | 2003-10-16 | Yilmaz Sozer | Control method for switched reluctance motor |
| CN104333275A (en) * | 2014-10-30 | 2015-02-04 | 中国矿业大学 | Wide-speed adjustable range cross control method of switched reluctance motor |
| CN204481722U (en) * | 2015-03-26 | 2015-07-15 | 滨州学院 | A kind of switched reluctance machines speed-regulating control device |
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Effective date of registration: 20201224 Address after: 274900 Industrial Park, Tianzhuang Town, Juye County, Heze City, Shandong Province (South s254 Road East, Nanyu Village) Patentee after: Linzhou (Juye) Incubator Co., Ltd Address before: Binzhou college, No.391, Huanghe 5th Road, Bincheng District, Binzhou City, Shandong Province, 256600 Patentee before: BINZHOU University |